#include "../include/Imu.hpp"
namespace ORBSLAM
{
    ImuDataPoint::ImuDataPoint() {}

    // ImuDataPoint::~ImuDataPoint(){}

    ImuDataPoint::ImuDataPoint(Point3f acc, Point3f gyro, double time_stamp) : m_a(acc.x, acc.y, acc.z), m_w(gyro.x, gyro.y, gyro.z), m_t(time_stamp) {}


    PreIntegrationData::PreIntegrationData() {}

    ImuDataPoint::ImuDataPoint(double ax, double ay, double az, double wx, double wy, double wz, double t) : m_a(ax, ay, az), m_w(wx, wy, wz), m_t(t)
    {
    }

    Extrinsics::Extrinsics()
    {
    }

    PreIntegrater::PreIntegrater()
    {
    }

    PreIntegrationData PreIntegrater::Pre_integrate(PreIntegrationData pre_integration_data, double last_frame_timestamp, Bias last_frame_bias, vector<ImuDataPoint> v_imu_data, double cur_frame_timestamp)
    {
        return PreIntegrationData();
    }

} // namespace ORBSLAM
